JP2005306335A - Turning radius calculating method, steering support device and parking support device using turning radius calculating method, turning radius calculating program, and recording medium - Google Patents

Turning radius calculating method, steering support device and parking support device using turning radius calculating method, turning radius calculating program, and recording medium Download PDF

Info

Publication number
JP2005306335A
JP2005306335A JP2004130056A JP2004130056A JP2005306335A JP 2005306335 A JP2005306335 A JP 2005306335A JP 2004130056 A JP2004130056 A JP 2004130056A JP 2004130056 A JP2004130056 A JP 2004130056A JP 2005306335 A JP2005306335 A JP 2005306335A
Authority
JP
Japan
Prior art keywords
turning
steering
angle
turning radius
calculated
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP2004130056A
Other languages
Japanese (ja)
Other versions
JP4438499B2 (en
Inventor
Kazunori Shimazaki
和典 嶋▲崎▼
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Industries Corp
Original Assignee
Toyota Industries Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP2004130056A priority Critical patent/JP4438499B2/en
Application filed by Toyota Industries Corp filed Critical Toyota Industries Corp
Priority to DE602005010845T priority patent/DE602005010845D1/en
Priority to PCT/JP2005/006003 priority patent/WO2005102822A1/en
Priority to CNB2005800004285A priority patent/CN100528665C/en
Priority to KR1020057024582A priority patent/KR100754266B1/en
Priority to EP05727535A priority patent/EP1740438B1/en
Priority to AU2005235027A priority patent/AU2005235027B2/en
Priority to US10/558,051 priority patent/US7706943B2/en
Priority to AT05727535T priority patent/ATE413321T1/en
Priority to TW094110675A priority patent/TWI288718B/en
Publication of JP2005306335A publication Critical patent/JP2005306335A/en
Application granted granted Critical
Publication of JP4438499B2 publication Critical patent/JP4438499B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0225—Determination of steering angle by measuring on a steering gear element, e.g. on a rack bar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0275—Parking aids, e.g. instruction means by overlaying a vehicle path based on present steering angle over an image without processing that image

Abstract

<P>PROBLEM TO BE SOLVED: To provide a turning radius calculating method for easily obtaining a turning radius of a vehicle corresponding to an arbitrary steering angle without actually measuring the turning radius. <P>SOLUTION: While the steering angle, an outside tire turning angle, and an inside tire turning angle are used as variables, a steering system model is represented by a relational expression including a known parameter and an unknown parameter (S1). Data of the known parameter is input based on design data (S2). The unknown parameter is calculated based on the relational expression corresponding to a zero steering state and a full steering state (S3). The outside tire turning angle and the inside tire turning angle to a plurality of steering angles between the zero steering state and the full steering state are respectively calculated (S4). The turning radius corresponding to the calculated outside tire turning angle and inside tire turning angle is calculated (S5). An approximation function of the turning radius with respect to the steering angle is obtained based on the plurality of steering angles and the turning radius (S6). <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

この発明は、操舵角から車両の旋回半径を算出する方法並びにこの方法を用いた操舵支援装置及び駐車支援装置、この方法をコンピュータに実行させる旋回半径算出プログラム及び記録媒体に関する。   The present invention relates to a method for calculating a turning radius of a vehicle from a steering angle, a steering assist device and a parking assist device using the method, a turning radius calculation program for causing a computer to execute the method, and a recording medium.

従来、例えば特許文献１に開示されているように、車両後方の実映像をＣＣＤカメラで撮像してモニタ画面に表示すると共にセンサにより検出された操舵角に係る情報等に応じて車両後退時の予想軌跡をモニタ画面上に重畳表示することにより運転操作を支援する運転支援装置が開発されている。このような運転支援装置によれば、運転者はモニタ画面上の予想軌跡を見ながら車両を運転操作することにより、例えば車両を駐車スペースへ並列駐車させることができる。   Conventionally, as disclosed in, for example, Patent Document 1, an actual image of the rear of the vehicle is captured by a CCD camera and displayed on a monitor screen, and the information on the steering angle detected by the sensor or the like is displayed when the vehicle moves backward. A driving support device that supports driving operation by superimposing and displaying an expected locus on a monitor screen has been developed. According to such a driving support apparatus, the driver can drive the vehicle while looking at the expected locus on the monitor screen, for example, so that the vehicle can be parked in parallel in the parking space.

特開２００２−２５１６３２号公報JP 2002-251632 A

このように後退時の予想軌跡を描くためには、任意の操舵角に応じた車両の旋回半径が必要となるが、従来は、複数の異なる操舵角で旋回してそれぞれ旋回半径を実測し、得られたデータを補間するなどして旋回半径を得ていた。
しかしながら、複数の異なる操舵角において旋回半径の実測を複数回実施する必要があり、極めて手間がかかるという問題を生じていた。さらに、運転支援装置を複数の車種へ搭載しようとすると、それぞれの車種における車両の特性を実測して求めなければならず、大変な作業となっていた。 Thus, in order to draw the expected trajectory at the time of reverse, a turning radius of the vehicle corresponding to an arbitrary steering angle is required, but conventionally, turning at a plurality of different steering angles and measuring the turning radius, The turning radius was obtained by interpolating the obtained data.
However, it is necessary to actually measure the turning radius a plurality of times at a plurality of different steering angles, which causes a problem that it is extremely troublesome. Furthermore, when it is intended to mount the driving support device on a plurality of vehicle types, it is necessary to actually obtain the characteristics of the vehicle in each vehicle type, which is a difficult task.

この発明は、このような従来の問題点に鑑みてなされたものであり、実測することなく任意の操舵角に応じた車両の旋回半径を容易に得ることができる旋回半径算出方法を提供することを目的とする。
また、この発明は、このような旋回半径算出方法を用いた操舵支援装置及び駐車支援装置を提供することも目的としている。
さらに、この発明は、旋回半径算出方法をコンピュータに実行させる旋回半径算出プログラム及び記録媒体を提供することもまた目的としている。 The present invention has been made in view of such a conventional problem, and provides a turning radius calculation method capable of easily obtaining a turning radius of a vehicle corresponding to an arbitrary steering angle without actually measuring. With the goal.
Another object of the present invention is to provide a steering assist device and a parking assist device using such a turning radius calculation method.
Furthermore, another object of the present invention is to provide a turning radius calculation program and a recording medium that cause a computer to execute the turning radius calculation method.

この発明に係る旋回半径算出方法は、操舵角と外側タイヤ切れ角及び内側タイヤ切れ角とを変数とすると共に既知パラメータと未知パラメータとを含む関係式によって操舵系モデルを表すステップと、設計データに基づいて既知パラメータのデータ入力を要求するステップと、既知パラメータのデータが入力されると、操舵ゼロの状態に対応する前記関係式とフル操舵の状態に対応する前記関係式から未知パラメータを算出するステップと、未知パラメータの算出データを入力した前記関係式を用いて操舵ゼロからフル操舵の間の複数の操舵角に対する外側タイヤ切れ角と内側タイヤ切れ角をそれぞれ算出するステップと、算出された外側タイヤ切れ角と内側タイヤ切れ角に対応する旋回半径を算出するステップと、これら複数の操舵角と旋回半径とに基づいて操舵角に対する旋回半径の近似関数を求めるステップとを備えた方法である。   A turning radius calculation method according to the present invention includes a step of representing a steering system model by a relational expression including a known parameter and an unknown parameter while using a steering angle, an outer tire angle and an inner tire angle as variables, and design data. Based on the step of requesting data input of the known parameter based on the above and when the data of the known parameter is input, the unknown parameter is calculated from the relational expression corresponding to the steering zero state and the relational expression corresponding to the full steering state. A step of calculating an outer tire inner angle and an inner tire angular angle with respect to a plurality of steering angles between zero steering and full steering using the relational expression input with calculation data of unknown parameters, and a calculated outer Calculating a turning radius corresponding to the tire turning angle and the inner tire turning angle, and the plurality of steering angles and turning angles. It is a method that includes a step of obtaining an approximate function of turning radius for steering angle based on the radius.

車両の設計データに基づいて既知パラメータのデータを入力することにより操舵ゼロの状態とフル操舵の状態とにそれぞれ対応する関係式から未知パラメータが算出され、この関係式を用いて複数の操舵角に対する外側タイヤ切れ角と内側タイヤ切れ角がそれぞれ算出される。それぞれの外側タイヤ切れ角と内側タイヤ切れ角から旋回半径が算出され、操舵角に対する旋回半径の近似関数が求められる。   By inputting known parameter data based on the design data of the vehicle, unknown parameters are calculated from the relational expressions corresponding to the steering zero state and the full steering state, respectively. An outer tire cut angle and an inner tire cut angle are respectively calculated. A turning radius is calculated from each outer tire turning angle and inner tire turning angle, and an approximate function of the turning radius with respect to the steering angle is obtained.

なお、旋回半径の近似関数はべき乗関数とすることができる。あるいは、旋回半径の近似関数は二輪モデルのタイヤ切れ角から旋回半径を算出する関数とすることもでき、この場合、二輪モデルのタイヤ切れ角は操舵角の２次以上の関数で表される。
また、旋回半径を旋回外側の操舵輪の旋回半径とすれば、より精度のよい近似がなされる。 Note that the approximate function of the turning radius can be a power function. Alternatively, the approximate function of the turning radius may be a function for calculating the turning radius from the tire turning angle of the two-wheel model. In this case, the tire turning angle of the two-wheel model is represented by a function of the second or higher steering angle.
Further, if the turning radius is the turning radius of the steering wheel outside the turning, a more accurate approximation can be made.

この発明に係る操舵支援装置は、車両の後退時に車両後方の映像をモニタに表示すると共に操舵角に応じた車両の後退軌跡をモニタに重畳表示する運転支援装置において、上記の旋回半径算出方法により操舵角から算出された旋回半径に基づいて車両の後退軌跡をモニタに表示するものである。
また、この発明に係る駐車支援装置は、目標駐車スペースへの車両の駐車操作を案内する駐車支援装置において、上記の旋回半径算出方法により操舵角から算出された旋回半径に基づいて車両の駐車操作を案内するものである。 The steering assist device according to the present invention is a driving assist device that displays an image of the rear of the vehicle on the monitor when the vehicle is moving backward, and displays the vehicle backward trajectory in accordance with the steering angle on the monitor. The backward trajectory of the vehicle is displayed on the monitor based on the turning radius calculated from the steering angle.
The parking assist device according to the present invention is a parking assist device that guides a parking operation of a vehicle in a target parking space. The parking operation of the vehicle is based on the turning radius calculated from the steering angle by the turning radius calculating method. Is a guide.

この発明に係る旋回半径算出プログラムは、操舵角と外側タイヤ切れ角及び内側タイヤ切れ角とを変数とすると共に既知パラメータと未知パラメータとを含む関係式によって操舵系モデルを表すステップと、車両の設計データに基づいて既知パラメータのデータをコンピュータに入力するステップと、既知パラメータのデータが入力されると、操舵ゼロの状態に対応する前記関係式とフル操舵の状態に対応する前記関係式から未知パラメータを算出するステップと、未知パラメータの算出データを入力した前記関係式を用いて操舵ゼロからフル操舵の間の複数の操舵角に対する外側タイヤ切れ角と内側タイヤ切れ角をそれぞれ算出するステップと、算出された外側タイヤ切れ角と内側タイヤ切れ角に対応する旋回半径を算出するステップと、これら複数の操舵角と旋回半径とに基づいて操舵角に対する旋回半径の近似関数を求めるステップとを実行させるものである。   A turning radius calculation program according to the present invention includes a step of representing a steering system model by a relational expression including a known parameter and an unknown parameter, with a steering angle, an outer tire angle and an inner tire angle as variables, and a vehicle design A step of inputting data of a known parameter to the computer based on the data; and when the data of the known parameter is input, the unknown parameter is obtained from the relational expression corresponding to the steering zero state and the relational expression corresponding to the full steering state. A step of calculating an outer tire inner angle and an inner tire angular angle with respect to a plurality of steering angles between zero steering and full steering, using the relational expression inputted with unknown parameter calculation data, and calculating Calculating a turning radius corresponding to the outer tire turning angle and the inner tire turning angle, It is intended to execute a step of obtaining an approximate function of turning radius for steering angle based on the turning radius and these plurality of steering angles.

上記の旋回半径算出方法及び旋回半径算出プログラムにおいて、好ましくは、ステアリング操舵に応じて車両の幅方向に移動するラックのストロークが操舵角に対応する変数として前記関係式に含まれる。
また、外側タイヤ切れ角と内側タイヤ切れ角に対応する旋回半径は、左右の前輪車軸と後輪車軸とのそれぞれの交点の中点を旋回中心と見なして算出することが好ましい。あるいは、外側タイヤ切れ角と内側タイヤ切れ角に対応する旋回半径は、左右の各前輪の、旋回円の径方向のスリップ力がつりあうように設定した旋回円の中心を旋回中心と見なして算出することもできる。
さらに、この発明に係る記録媒体は、上記の旋回半径算出プログラムが記録されたコンピュータ読み取り可能な記録媒体である。 In the above-described turning radius calculation method and turning radius calculation program, preferably, the stroke of the rack that moves in the width direction of the vehicle in response to steering is included in the relational expression as a variable corresponding to the steering angle.
Further, it is preferable that the turning radius corresponding to the outer tire inner corner angle and the inner tire outer corner angle is calculated by regarding the midpoint of the intersection of the left and right front wheel axles and the rear wheel axle as the turning center. Alternatively, the turning radius corresponding to the outer tire turning angle and the inner tire turning angle is calculated by regarding the center of the turning circle set so that the radial slip force of the turning circle of the left and right front wheels is balanced as the turning center. You can also.
Furthermore, a recording medium according to the present invention is a computer-readable recording medium in which the turning radius calculation program is recorded.

この発明によれば、任意の操舵角に応じた車両の旋回半径を実測することなく容易に得ることが可能となる。   According to the present invention, it is possible to easily obtain the turning radius of the vehicle corresponding to an arbitrary steering angle without actually measuring it.

以下、この発明の実施の形態を添付図面に基づいて説明する。
図１に、実施の形態に係る旋回半径算出方法のフローチャートを示す。まず、ステップＳ１で車両の設計データのうち所定のデータを用いて操舵系モデルを構築する。この実施の形態では、図２に示すような操舵系モデルを考えることとする。
図２において、
ＡＢ：タイヤと一体に点Ａ（キングピン）を中心に回転するロッカーアーム、
ＤＥ：タイヤと一体に点Ｄ（キングピン）を中心に回転するロッカーアーム、
ＣＦ：ステアリング操舵に応じて左右に移動するラック、
ＢＣ：ロッカーアームとラックに連結されたタイロッド、
ＥＦ：ロッカーアームとラックに連結されたタイロッド、
Ｈ：ラック位置、
Ｊ：ロッカーアーム長、
Ｋ：タイロッド長、
２Ｌ：ラック長、
２Ｍ：キングピン間距離、
Ｓ：ラックストローク（ステアリングの操舵角τに比例する）、
θ：ロッカーアーム角度、
α：外側タイヤ切れ角、
β：内側タイヤ切れ角
をそれぞれ表している。 Embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 shows a flowchart of a turning radius calculation method according to the embodiment. First, in step S1, a steering system model is constructed using predetermined data among vehicle design data. In this embodiment, a steering system model as shown in FIG. 2 is considered.
In FIG.
AB: Rocker arm that rotates around the point A (kingpin) integrally with the tire,
DE: Rocker arm that rotates around the point D (kingpin) integrally with the tire,
CF: rack that moves left and right according to steering,
BC: Tie rod connected to rocker arm and rack,
EF: Rocker arm and tie rod connected to rack
H: rack position,
J: Rocker arm length,
K: Tie rod length,
2L: rack length,
2M: Distance between king pins,
S: rack stroke (proportional to steering angle τ of steering),
θ: Rocker arm angle
α: Outer tire cutting angle,
β: Represents the inner tire cutting angle.

ここで、図２より、ＢＣ間の距離の二乗はタイロッド長Ｋの二乗に等しいから、
[{M−Jcos(θ＋α)}−(L＋S)]２＋[Jsin(θ＋α)−H]２ ＝ K２ ・・・(1)
ＥＦ間の距離の二乗はタイロッド長Ｋの二乗に等しいから、
[{−M＋Jcos(θ−β)}−(−L＋S)]２＋[Jsin(θ−β)−H]２ ＝ K２ ・・・(2)
の関係式が得られる。 Here, from FIG. 2, the square of the distance between BC is equal to the square of the tie rod length K.
[{M−Jcos (θ + α)} − (L + S)] 2 + [Jsin (θ + α) −H] 2 = K 2 (1)
Since the square of the distance between EF is equal to the square of the tie rod length K,
[{−M + Jcos (θ−β)} − (− L + S)] 2 + [Jsin (θ−β) −H] 2 = K 2 (2)
The following relational expression is obtained.

次に、ステップＳ２で設計データに基づいて以下の既知パラメータのデータ入力が操作者に要求される。
Ｋ：タイロッド長、
２Ｌ：ラック長
２Ｍ：キングピン間距離、
Ｓｍ：最大ラックストローク、
αｍ：最大外側タイヤ切れ角、
βｍ：最大内側タイヤ切れ角
なお、既知パラメータのデータ入力は、操作者に要求して入力される構成に限らず、あらかじめ用意しておいたデータを自動、或いは操作者の操作で読み込ませてもよい。 Next, in step S2, the operator is requested to input data of the following known parameters based on the design data.
K: Tie rod length,
2L: rack length 2M: distance between king pins,
Sm: Maximum rack stroke,
αm: Maximum outer tire turning angle,
βm: Maximum inner tire turning angle Note that the data input for known parameters is not limited to the configuration that is requested and input from the operator, and data prepared in advance may be read automatically or by the operator's operation. Good.

ステップＳ２で既知パラメータのデータが入力されると、ステップＳ３で操舵ゼロ（中立位置）の状態とフル操舵の状態から以下の式を得る。
まず、操舵ゼロのときには、α＝β＝０で且つＳ＝０であるので、（１）及び（２）式から、
[{M−Jcos(θ)}−L]２＋[Jsin(θ)−H]２ ＝ K２ ・・・(3)
となる。
また、フル操舵のときには、α＝αｍ、β＝βｍ、Ｓ＝Ｓｍであるので、（１）式は、
[{M−Jcos(θ＋αm)}−(L＋Sm)]２＋[Jsin(θ＋αm)−H]２ ＝ K２ ・・・(4)
となり、（２）式は、
[{−M＋Jcos(θ−βm)}−(−L＋Sm)]２＋[Jsin(θ−βm)−H]２ ＝ K２ ・・・(5)
と表される。 When the data of the known parameter is input in step S2, the following expression is obtained from the steering zero (neutral position) state and the full steering state in step S3.
First, when steering is zero, since α = β = 0 and S = 0, from the equations (1) and (2),
[{M−Jcos (θ)} − L] 2 + [Jsin (θ) −H] 2 = K 2 (3)
It becomes.
Further, in the case of full steering, α = αm, β = βm, and S = Sm.
[{M−Jcos (θ + αm)} − (L + Sm)] 2 + [Jsin (θ + αm) −H] 2 = K 2 (4)
(2) is
[{−M + Jcos (θ−βm)} − (− L + Sm)] 2 + [Jsin (θ−βm) −H] 2 = K 2 (5)
It is expressed.

ここで、ニュートンラフソン法などの数値解析的解法により、（３）、（４）及び（５）式を未知パラメータＪ、Ｈ及びθについて解く。得られた未知パラメータＪ、Ｈ及びθの解を（１）及び（２）式に代入すると、これら（１）及び（２）式は外側タイヤ切れ角α、内側タイヤ切れ角β、ラックストロークＳを変数とする式になる。   Here, equations (3), (4), and (5) are solved for unknown parameters J, H, and θ by a numerical analysis method such as Newton-Raphson method. Substituting the obtained solutions of unknown parameters J, H, and θ into the equations (1) and (2), these equations (1) and (2) yield the outer tire angle α, the inner tire angle β, and the rack stroke S. Becomes an expression with a variable.

そこで、ステップＳ４で、ラックストロークＳに対し、例えばＳ＝0からＳ＝Ｓｍまでを１０等分した値Ｓｎ（ｎ＝０〜１０、Ｓ０＝０、Ｓ１０＝Ｓｍ）を与え、ニュートンラフソン法などの数値解析的解法により（１）及び（２）式をα及びβについて解くことで、Ｓｎに対応するαｎ、βｎを得ることができる。   Therefore, in step S4, for example, a value Sn (n = 0 to 10, S0 = 0, S10 = Sm) obtained by equally dividing S = 0 to S = Sm into 10 is given to the rack stroke S, and the Newton-Raphson method or the like. Αn and βn corresponding to Sn can be obtained by solving the equations (1) and (2) with respect to α and β by the numerical analysis method.

ここで、ラックストロークＳはステアリングの操舵角τに比例し、フル操舵角τｍは車両の設計データとして既知であるので、Ｓｎに対応するτｎを算出することができる。その結果、所定のステアリング操舵角τｎに対する外側タイヤ切れ角αｎ、内側タイヤ切れ角βｎの複数の組が得られる。なお、ステアリングの操舵角τは、片側の正の値のみについて考えるものとする。   Here, since the rack stroke S is proportional to the steering angle τ of the steering and the full steering angle τm is known as vehicle design data, τn corresponding to Sn can be calculated. As a result, a plurality of sets of an outer tire turning angle αn and an inner tire turning angle βn with respect to a predetermined steering steering angle τn are obtained. Note that the steering angle τ of the steering is considered only for a positive value on one side.

次に、ステップＳ５で、外側タイヤ切れ角αｎ及び内側タイヤ切れ角βｎから車両のリヤアクスル中心の旋回半径を算出する。なお、左右前輪（操舵輪）の車軸延長線の交点が後輪の車軸延長線上で交わる場合（アッカーマンジオメトリ）には、旋回半径を比較的単純に求めることができるが、一般には図３に示されるように、左右前輪の車軸延長線の交点は後輪の車軸延長線上で交わらない。そこで、この実施の形態においては、左右の前輪車軸と後輪車軸とのそれぞれの交点の中点を旋回中心と見なして旋回半径の算出を行う。
図３において、リヤアクスル中心から内側タイヤの車軸と後輪車軸との交点までの距離Ｒｃｉｎは、
Rcin ＝ WB／tan(βn)＋M ・・・(6)
となり、リヤアクスル中心から外側タイヤの車軸と後輪車軸との交点までの距離Ｒｃｏｎは、
Rcon ＝ WB／tan(αn)−M ・・・(7)
となる。従って、旋回半径Ｒｃｎは、
Rcn ＝ (Rcin＋Rcon)／２
＝ WB[{１／tan(αn)}＋{１／tan(βn)}]／２ ・・・(8)
と表される。ここで、ＷＢは車両のホイールベース、Ｍはキングピン間距離の半分を示す。 Next, in step S5, the turning radius at the center of the rear axle of the vehicle is calculated from the outer tire cutting angle αn and the inner tire cutting angle βn. When the intersection of the axle extension lines of the left and right front wheels (steering wheels) intersects the axle extension line of the rear wheels (Ackermann geometry), the turning radius can be obtained relatively simply, but generally shown in FIG. As shown, the intersection of the left and right front axle extension lines does not intersect on the rear axle extension line. Therefore, in this embodiment, the turning radius is calculated by regarding the midpoint of the intersection of the left and right front wheel axles and the rear wheel axle as the turning center.
In FIG. 3, the distance Rcin from the center of the rear axle to the intersection of the inner tire axle and the rear axle is:
Rcin = WB / tan (βn) + M (6)
The distance Rcon from the rear axle center to the intersection of the outer tire axle and the rear axle is:
Rcon = WB / tan (αn) −M (7)
It becomes. Therefore, the turning radius Rcn is
Rcn = (Rcin + Rcon) / 2
= WB [{1 / tan (αn)} + {1 / tan (βn)}] / 2 (8)
It is expressed. Here, WB represents the wheel base of the vehicle, and M represents half the distance between the king pins.

このようにして、所定の外側タイヤ切れ角αｎ及び内側タイヤ切れ角βｎに対応する旋回半径Ｒｃｎが算出される。
なお、ステップＳ４で述べたように、外側タイヤ切れ角αｎ及び内側タイヤ切れ角βｎは所定の操舵角τｎに対して得られたものであるので、結局、所定の操舵角τｎに対応する旋回半径Ｒｃｎが算出されたこととなる。
さらに、Ｒｃｎより、以下の演算により、旋回半径Ｒｍが得られる。
Rmn ＝ {(Rcn＋M)２＋WB２}１／２＋IK
ここで、Ｒｍｎは外側前輪（旋回外側の操舵輪）の旋回半径、ＩＫは前輪タイヤ中心とキングピンの距離で、
IK ＝ (TRF−２M)／２
と表される。ここで、ＴＲＦはフロントトレッドである。 In this way, the turning radius Rcn corresponding to the predetermined outer tire cutting angle αn and inner tire cutting angle βn is calculated.
As described in step S4, since the outer tire turning angle αn and the inner tire cutting angle βn are obtained with respect to the predetermined steering angle τn, the turning radius corresponding to the predetermined steering angle τn is eventually obtained. Rcn is calculated.
Further, the turning radius Rm is obtained from Rcn by the following calculation.
Rmn = {(Rcn + M) 2 + WB 2 } 1/2 + IK
Here, Rmn is the turning radius of the outer front wheel (steering wheel outside the turning), IK is the distance between the front tire center and the kingpin,
IK = (TRF-2M) / 2
It is expressed. Here, TRF is a front tread.

ステップＳ５で算出された操舵角τｎと旋回半径Ｒｍｎの複数の組に基づき、ステップＳ６で、操舵角τｎに対する旋回半径Ｒｍｎの近似関数Ｒ（τ）が求められる。
例えば、近似関数Ｒ（τ）はべき乗関数で近似され、未知の係数Ａ及びＢを含む以下の式で定義される。
R(τ) ＝ A・(τ)Ｂ ・・・(9)
この近似関数Ｒ（τ）に対してステップＳ５で得られた操舵角τｎと旋回半径Ｒｍｎの複数のデータにより、
Rmn ＝ A・(τn)Ｂ＋Dn （例えば、ｎ＝０〜１０） ・・・(10)
を生成できる。そして、偏差Ｄｎの二乗の和Ｖ
V ＝ Σ(Dn)２
を最小とする係数Ａ及びＢを算出する。算出方法としては、例えばシンプレックス法などの数値解析的解法を用いることができる。
算出された係数Ａ及びＢを（９）式に適用することにより、任意の操舵角に対する旋回半径を得る関数式Ｒ（τ）が得られる。
このようにして求められた関数式Ｒ（τ）により、例えば図４に示されるように、操舵角に対する旋回半径の関係が得られる。 Based on a plurality of sets of the steering angle τn and the turning radius Rmn calculated in step S5, an approximate function R (τ) of the turning radius Rmn with respect to the steering angle τn is obtained in step S6.
For example, the approximate function R (τ) is approximated by a power function and is defined by the following expression including unknown coefficients A and B.
R (τ) = A ・ (τ) B ... (9)
For this approximate function R (τ), a plurality of data of the steering angle τn and the turning radius Rmn obtained in step S5,
Rmn = A · (τn) B + Dn (for example, n = 0 to 10) (10)
Can be generated. And the sum V of the square of the deviation Dn
V = Σ (Dn) 2
The coefficients A and B that minimize the value are calculated. As a calculation method, for example, a numerical analysis solution such as a simplex method can be used.
By applying the calculated coefficients A and B to the equation (9), a functional equation R (τ) for obtaining a turning radius with respect to an arbitrary steering angle is obtained.
The relationship of the turning radius with respect to the steering angle is obtained from the function equation R (τ) thus obtained, for example, as shown in FIG.

なお、ステップＳ６で近似関数Ｒ（τ）を求める際に、例えば１０組の操舵角τｎと旋回半径Ｒｍｎのデータのすべてを使用するのではなく、深い操舵状態（フル操舵に近い状態）側から適当な数のデータを選択して使用すれば、深い操舵状態側においてより精度よく近似された関数を得ることができ、操舵支援や駐車支援に際してより正確な後退軌跡や駐車案内を提供することが可能となる。
また、例えば１０組の操舵角τｎと旋回半径Ｒｍｎのデータを深い操舵状態側のデータほど重みを重くして近似関数Ｒ（τ）を求めても良い。 When obtaining the approximate function R (τ) in step S6, for example, not all 10 sets of data of the steering angle τn and the turning radius Rmn are used, but from the deep steering state (state close to full steering). By selecting and using an appropriate number of data, it is possible to obtain a function that is approximated more accurately on the deep steering state side, and to provide a more accurate backward trajectory and parking guidance for steering assistance and parking assistance. It becomes possible.
Further, for example, the approximation function R (τ) may be obtained by weighting the data of 10 sets of the steering angle τn and the turning radius Rmn as the data on the deeper steering state side is weighted.

また、近似関数Ｒ（τ）をべき乗関数以外の関数で近似することもできる。例えば、図５に示されるように、二輪モデルを想定し、仮想前輪切れ角をθｃａｌとしたとき、
R(τ) ＝ [WB２＋(Rc＋M)２]１／２＋IK ・・・(11)
となる。ただし、
Rc ＝ WB／tan(θcal)
θcal ＝ Cτ２＋Dτ＋E
とし、深い操舵状態（フル操舵に近い状態）側から適当な数のデータを選択して（１１）式により得られた値と旋回半径Ｒｍｎの偏差の二乗和を最小とする係数Ｃ、Ｄ及びＥを算出する。
算出された係数Ｃ、Ｄ及びＥを（１１）式に適用することにより、任意の操舵角に対する旋回半径を得る関数式Ｒ（τ）が得られる。
また、実施例では未知パラメータとしてＪ，Ｈ，θを用いたがこれに限らない。例えば、Ｋの代わりにＨを既知パラメータとして、未知パラメータＪ、Ｋ、θについて解いても良い。ほかの組合せでも良い。実際に既知のパラメータを用いて未知パラメータについて解けばよい。
また、実施例では複数の操舵角τｎに対して旋回半径Ｒｃｎを求めて、近似関数Ｒ（τ）の係数を算出したが、逆に複数の旋回半径Ｒｃｎに対して操舵角τｎを求めて、近似関数Ｒ（τ）の係数を算出しても良い。 The approximate function R (τ) can be approximated by a function other than the power function. For example, as shown in FIG. 5, assuming a two-wheel model, when the virtual front wheel turning angle is θcal,
R (τ) = [WB 2 + (Rc + M) 2 ] 1/2 + IK (11)
It becomes. However,
Rc = WB / tan (θcal)
θcal = Cτ 2 + Dτ + E
And selecting the appropriate number of data from the deep steering state (the state close to full steering), the coefficients C, D, which minimize the sum of squares of the deviation between the value obtained from the equation (11) and the turning radius Rmn, and E is calculated.
By applying the calculated coefficients C, D, and E to the equation (11), a functional equation R (τ) that obtains a turning radius for an arbitrary steering angle is obtained.
In the embodiment, J, H, and θ are used as unknown parameters, but the present invention is not limited to this. For example, unknown parameters J, K, and θ may be solved using H as a known parameter instead of K. Other combinations may be used. What is necessary is just to solve about an unknown parameter using an actually known parameter.
In the embodiment, the turning radius Rcn is obtained for a plurality of steering angles τn and the coefficient of the approximate function R (τ) is calculated. Conversely, the steering angle τn is obtained for a plurality of turning radii Rcn, A coefficient of the approximate function R (τ) may be calculated.

また、外側タイヤ切れ角αｎ及び内側タイヤ切れ角βｎから旋回半径を算出する方法としては、左右の前輪車軸と後輪車軸とのそれぞれの交点の中点を旋回中心と見なして算出する代わりに、前輪のスリップ力をバランスさせる計算法を用いることもできる。
実際のタイヤの進行方向と、実際のタイヤの角度との角度偏差を外側タイヤ、内側タイヤそれぞれΔαｎ、Δβｎとすると、タイヤと直角方向に、外側タイヤ、内側タイヤにそれぞれコーナリング力Ｆｏ、Ｆｉが発生する。コーナリング力は、角度偏差に比例し、速度に比例すると近似できる。また、左右輪の速度は左右輪の旋回半径に比例する。すなわちコーナリング力Ｆｏ，Ｆｉは各タイヤの角度偏差と各タイヤの旋回半径に比例する。したがって、
Fi ∝ WBi・Δβn／sin(βn＋Δβn)
Fo ∝ WBo・Δαn／sin(αn−Δαn)
と書ける。ここでＷＢｉは内側の、前輪と後輪の間隔、ＷＢｏは外側の、前輪と後輪の間隔。
旋回円からずれないことから、左右の前輪にかかるコーナリング力の、旋回円の径方向の成分がつりあっていると言えるので
Fi・cos(Δβn) ＝ Fo・cos(Δαn)
よって
WBi・Δβn・cos(Δβn)／sin(βn＋Δβn)
＝ WBo・Δαn・cos(Δαn)／sin(αn−Δαn) ・・・(12)
また、左右の旋回半径の差の関係から
WBo／sin(αn−Δαn)−WBi／sin(βn＋Δβn) ＝ ２M ・・・(13)
式（１２）及び（１３）からΔαｎ、Δβｎを求め、
Rmn ＝ WBo／sin(αn−Δαn)
により旋回半径を求めることができる。
上記の、法線方向のコーナリング力をバランスさせるほかにも、近似の方法や座標系のとりかたにより様々な関係式を設定でき、それらにより、様々な方法で旋回半径を算出できる。いずれの場合も、外側操舵輪と内側操舵輪の切れ角を元にして旋回半径を算出する。 Further, as a method of calculating the turning radius from the outer tire cutting angle αn and the inner tire cutting angle βn, instead of calculating the midpoint of the intersection of the left and right front wheel axles and the rear wheel axle as the turning center, A calculation method that balances the slip force of the front wheels can also be used.
When the angle deviation between the actual tire traveling direction and the actual tire angle is Δαn and Δβn for the outer tire and the inner tire, respectively, cornering forces Fo and Fi are generated in the outer tire and the inner tire in the direction perpendicular to the tire, respectively. To do. The cornering force can be approximated to be proportional to the angular deviation and proportional to the speed. The speed of the left and right wheels is proportional to the turning radius of the left and right wheels. That is, the cornering forces Fo and Fi are proportional to the angular deviation of each tire and the turning radius of each tire. Therefore,
Fi ∝ WBi ・ Δβn / sin (βn + Δβn)
Fo ∝ WBo ・ Δαn / sin (αn−Δαn)
Can be written. Here, WBi is the distance between the inner front wheel and the rear wheel, and WBo is the distance between the outer front wheel and the rear wheel.
Since it does not deviate from the turning circle, it can be said that the cornering force applied to the left and right front wheels is balanced with the radial component of the turning circle.
Fi · cos (Δβn) = Fo · cos (Δαn)
Therefore
WBi ・ Δβn ・ cos (Δβn) / sin (βn + Δβn)
= WBo ・ Δαn ・ cos (Δαn) / sin (αn−Δαn) (12)
Also, from the relationship between the left and right turning radii
WBo / sin (αn−Δαn) −WBi / sin (βn + Δβn) = 2M (13)
Δαn and Δβn are calculated from the equations (12) and (13),
Rmn = WBo / sin (αn−Δαn)
Thus, the turning radius can be obtained.
Besides balancing the above-mentioned cornering force in the normal direction, various relational expressions can be set depending on the approximation method and the coordinate system, and the turning radius can be calculated by various methods. In either case, the turning radius is calculated based on the turning angle between the outer steering wheel and the inner steering wheel.

また、実施例では旋回外側の操舵輪の旋回半径Ｒｍを求めたが、例えば旋回半径Ｒｃを求めても良いし、そのほかの車輪の旋回半径を求めても良い。ただし旋回半径Ｒｍを求めた方が近似精度がよいので、一旦旋回半径Ｒｍを求めてから旋回半径Ｒｃやその他の旋回半径に変換しても良い。
上述した実施の形態の旋回半径算出方法は、旋回半径算出プログラムとしてコンピュータにより読み取り可能な記録媒体に記録することができる。記録媒体としては、磁気、光、電気等の物理量の変化状態を引き起こして、コンピュータの読み取り装置にプログラムの記述内容を伝達し得るものであり、例えば、磁気ディスク、光ディスク、ＣＤ−ＲＯＭ、半導体メモリ等が用いられる。 In the embodiment, the turning radius Rm of the steering wheel outside the turn is obtained. However, for example, the turning radius Rc may be obtained or the turning radius of other wheels may be obtained. However, since the approximation accuracy is better when the turning radius Rm is obtained, the turning radius Rm may be once obtained and then converted to the turning radius Rc or another turning radius.
The turning radius calculation method of the embodiment described above can be recorded on a computer-readable recording medium as a turning radius calculation program. As a recording medium, it is possible to transmit a description content of a program to a reading device of a computer by causing a change state of a physical quantity such as magnetism, light, electricity, etc., for example, magnetic disk, optical disk, CD-ROM, semiconductor memory Etc. are used.

上述した旋回半径算出方法により任意の操舵角に応じた旋回半径を算出し、それに基づいて後退軌跡や駐車案内を運転者に提供することも可能である。
図６にこの発明の旋回半径算出方法を適用した駐車支援装置の構成を示す。コントローラ１には、ステアリングの操舵角を検出する操舵角センサ２と車両のヨー角方向の角速度を検出するヨーレートセンサ３が接続されると共に、車両が並列駐車を行うことをコントローラ１に知らせるための並列モードスイッチ４と車両が縦列駐車を行うことをコントローラ１に知らせるための縦列モードスイッチ５が接続されている。さらに、コントローラ１には、運転者に対して運転操作の情報を案内するためのスピーカ６が接続されている。
また、コントローラ１には、車両の後方を撮影するためのカメラ７と、カメラ７からの映像を表示するモニタ８が接続されている。
並列モードスイッチ４、縦列モードスイッチ５及びモニタ８は運転席に配置されており、カメラ７は例えば車両の屋根に取り付けられている。 It is also possible to calculate a turning radius corresponding to an arbitrary steering angle by the above-described turning radius calculation method, and to provide the driver with a backward trajectory and parking guidance based on the turning radius.
FIG. 6 shows the configuration of a parking assistance apparatus to which the turning radius calculation method of the present invention is applied. The controller 1 is connected with a steering angle sensor 2 for detecting the steering angle of the steering and a yaw rate sensor 3 for detecting the angular velocity of the vehicle in the yaw angle direction, and for notifying the controller 1 that the vehicle performs parallel parking. A parallel mode switch 4 and a column mode switch 5 for informing the controller 1 that the vehicle is parking in parallel are connected. Furthermore, the controller 1 is connected with a speaker 6 for guiding driving operation information to the driver.
The controller 1 is connected to a camera 7 for photographing the rear of the vehicle and a monitor 8 for displaying video from the camera 7.
The parallel mode switch 4, the tandem mode switch 5, and the monitor 8 are arranged in the driver's seat, and the camera 7 is attached to the roof of the vehicle, for example.

コントローラ１は、図示しないＣＰＵと制御プログラムを記憶したＲＯＭと作業用のＲＡＭとを備えている。
ＲＯＭには、上述した旋回半径算出プログラムが記憶されると共に並列駐車時及び縦列駐車時の駐車支援を行う制御プログラムが格納されている。ＣＰＵはＲＯＭに記憶された制御プログラムに基づいて動作する。 The controller 1 includes a CPU (not shown), a ROM storing a control program, and a working RAM.
The ROM stores a turning radius calculation program as described above and a control program for performing parking assistance during parallel parking and parallel parking. The CPU operates based on a control program stored in the ROM.

コントローラ１は、図示しないシフトセンサによりシフトレバーが後退位置に切り換えられたことを検知すると、図７に示されるように、カメラ７による車両後方の映像をモニタ８に表示すると共に操舵角センサ２により検出された操舵角を維持して所定の旋回角度だけ後退した場合の予想後退軌跡９をモニタ８上に重畳表示する。このとき、ＲＯＭに格納された旋回半径算出プログラムにより任意の操舵角に応じた旋回半径の算出が行われ、算出された旋回半径を用いて予想後退軌跡９が作成される。
なお、図７には、後方映像内に現れた自車の後部バンパ１０及び直進後退時の予想軌跡１１が示されている。 When the controller 1 detects that the shift lever has been switched to the reverse position by a shift sensor (not shown), as shown in FIG. 7, the controller 1 displays an image of the rear of the vehicle on the monitor 8 and the steering angle sensor 2. The predicted backward trajectory 9 when the detected steering angle is maintained and the vehicle is retracted by a predetermined turning angle is superimposed on the monitor 8. At this time, the turning radius is calculated according to an arbitrary steering angle by the turning radius calculation program stored in the ROM, and the predicted reverse locus 9 is created using the calculated turning radius.
FIG. 7 shows the rear bumper 10 of the own vehicle and the expected trajectory 11 when going straight ahead appearing in the rear image.

また、コントローラ１は、ヨーレートセンサ３から入力される車両の角速度から車両のヨー角を算出し、車両の旋回角度を算出して駐車運転中の各ステップにおける操作方法や操作タイミングに関する案内情報をモニタ８に表示する、あるいは音によりスピーカ６から出力する。運転者は、これらの案内情報に従って、容易に且つ正確に目標駐車スペースへの駐車操作を行うことができる。   Further, the controller 1 calculates the yaw angle of the vehicle from the angular velocity of the vehicle input from the yaw rate sensor 3, calculates the turning angle of the vehicle, and monitors guidance information regarding the operation method and operation timing at each step during parking operation. 8 or output from the speaker 6 by sound. The driver can easily and accurately perform the parking operation to the target parking space according to the guide information.

縦列駐車時にも、図８に示されるように、操舵角に対応した車両の予想後退軌跡１２がモニタ８上に表示されると共に駐車予定位置を示す車両マーク１３が表示され、運転者による駐車が支援される。   Also during parallel parking, as shown in FIG. 8, an expected backward trajectory 12 of the vehicle corresponding to the steering angle is displayed on the monitor 8 and a vehicle mark 13 indicating the planned parking position is displayed. Be supported.

なお、ここで例示した駐車支援装置では、操舵量に応じて画面表示が変化して、そのときの操舵量が適切であるかを判断できるように構成されているが、駐車支援装置としてはこれに限るものではなく、まずカーソル等により画面上で適切な軌跡または車両マークを設定し、そこから得られる旋回半径を上記（９）式あるいは（１１）式に適用して、適切な操舵量を取得するように構成することもできる。
いずれの場合にも、任意の操舵角とそれに対応する旋回半径の関係式を得ることは、駐車支援装置を構成する上で不可欠である。 Note that the parking support device exemplified here is configured so that the screen display changes according to the steering amount, and it can be determined whether the steering amount at that time is appropriate. First, an appropriate trajectory or vehicle mark is set on the screen using a cursor or the like, and the turning radius obtained therefrom is applied to the above equation (9) or (11) to obtain an appropriate steering amount. It can also be configured to obtain.
In any case, obtaining a relational expression between an arbitrary steering angle and a turning radius corresponding to the steering angle is indispensable for configuring a parking assistance device.

なお、駐車のための案内情報を提供せずに、後退時の予想後退軌跡をモニタ上に表示し、運転者がその予想後退軌跡を見ることにより後退操作時の操舵を支援する操舵支援装置にこの発明の旋回半径算出方法を適用することもできる。   In addition to providing guidance information for parking, a steering assist device that displays the expected backward trajectory at the time of reverse on the monitor and assists the steering at the time of reverse operation by the driver looking at the expected backward trajectory. The turning radius calculation method of the present invention can also be applied.

上述したように、この発明の旋回半径算出方法においては、設計データに基づいて所定の既知パラメータのデータを入力するだけで、実測することなく、操舵角に対する旋回半径の近似関数を求めることができる。従って、この旋回半径算出方法を適用すれば、共通の装置構成でありながら複数の車種に容易に搭載し得る操舵支援装置や駐車支援装置が実現される。   As described above, in the turning radius calculation method of the present invention, an approximate function of the turning radius with respect to the steering angle can be obtained without actually measuring by simply inputting predetermined known parameter data based on the design data. . Therefore, when this turning radius calculation method is applied, a steering assist device and a parking assist device that can be easily mounted on a plurality of vehicle types while having a common device configuration are realized.

この発明の実施の形態に係る旋回半径算出方法を示すフローチャートである。It is a flowchart which shows the turning radius calculation method which concerns on embodiment of this invention. 実施の形態で用いられた操舵系モデルを示す図である。It is a figure which shows the steering system model used in embodiment. 外側タイヤ切れ角及び内側タイヤ切れ角から車両の旋回半径を算出する方法を概念的に示す図である。It is a figure which shows notionally the method of calculating the turning radius of a vehicle from an outer tire cut angle and an inner tire cut angle. 実施の形態で得られた操舵角に対する旋回半径の関数式を示すグラフである。It is a graph which shows the function type | formula of the turning radius with respect to the steering angle obtained in embodiment. 外側タイヤ切れ角及び内側タイヤ切れ角から車両の旋回半径を算出する他の方法を概念的に示す図である。It is a figure which shows notionally the other method of calculating the turning radius of a vehicle from an outer tire cut angle and an inner tire cut angle. 実施の形態に係る駐車支援装置の構成を示すブロック図である。It is a block diagram which shows the structure of the parking assistance apparatus which concerns on embodiment. 駐車支援装置のモニタ上に表示された車両後方映像を示す図である。It is a figure which shows the vehicle back image | video displayed on the monitor of the parking assistance apparatus. 駐車支援装置のモニタ上に表示された車両後方映像を示す図である。It is a figure which shows the vehicle back image | video displayed on the monitor of the parking assistance apparatus.

符号の説明Explanation of symbols

１ コントローラ、２ 操舵角センサ、３ ヨーレートセンサ、４ 並列モードスイッチ、５ 縦列モードスイッチ、６ スピーカ、７ カメラ、８ モニタ。   1 controller, 2 steering angle sensor, 3 yaw rate sensor, 4 parallel mode switch, 5 column mode switch, 6 speaker, 7 camera, 8 monitor.

Claims (14)

車両の操舵系モデルを構築して操舵角と外側タイヤ切れ角及び内側タイヤ切れ角とを変数とすると共に既知パラメータと未知パラメータとを含む関係式を作成し、
設計データに基づいた既知パラメータのデータを前記関係式に適用し、
操舵ゼロの状態に対応する前記変数の値を前記関係式に適用させた条件式とフル操舵の状態に対応する前記変数の値を前記関係式に適用させた条件式から未知パラメータの値を算出し、
未知パラメータの値を適用した前記関係式を用いて操舵ゼロからフル操舵の間の複数の操舵角と操舵角に対応する外側タイヤ切れ角と内側タイヤ切れ角をそれぞれ算出し、
算出された外側タイヤ切れ角と内側タイヤ切れ角により操舵角に対応する旋回半径を算出し、
これら複数の操舵角と操舵角に対応する旋回半径とに基づいて操舵角に対する旋回半径の近似関数を求める
ことを特徴とする旋回半径算出方法。 Build a vehicle steering system model and create a relational expression that includes known parameters and unknown parameters as well as variables of steering angle, outer tire angle and inner tire angle,
Apply known parameter data based on design data to the relational expression,
The value of the unknown parameter is calculated from the conditional expression in which the value of the variable corresponding to the steering zero state is applied to the relational expression and the conditional expression in which the value of the variable corresponding to the full steering state is applied to the relational expression. And
A plurality of steering angles between the steering zero and the full steering and an outer tire turning angle and an inner tire turning angle corresponding to the steering angle are calculated using the relational expression to which the value of the unknown parameter is applied,
The turning radius corresponding to the steering angle is calculated from the calculated outer tire turning angle and inner tire turning angle,
A turning radius calculation method characterized in that an approximate function of a turning radius with respect to a steering angle is obtained based on the plurality of steering angles and a turning radius corresponding to the steering angle. ステアリング操舵に応じて車両の幅方向に移動するラックのストロークが操舵角に対応する変数として前記関係式に含まれる請求項１に記載の旋回半径算出方法。   The turning radius calculation method according to claim 1, wherein a stroke of a rack that moves in the width direction of the vehicle in accordance with steering is included in the relational expression as a variable corresponding to a steering angle. 外側タイヤ切れ角と内側タイヤ切れ角に対応する旋回半径は、左右の前輪車軸と後輪車軸とのそれぞれの交点の中点を旋回中心と見なして算出される請求項１または２に記載の旋回半径算出方法。   The turning radius according to claim 1 or 2, wherein the turning radii corresponding to the outer tire turning angle and the inner tire turning angle are calculated by regarding the midpoint of the intersection of the left and right front wheel axles and the rear wheel axle as the turning center. Radius calculation method. 外側タイヤ切れ角と内側タイヤ切れ角に対応する旋回半径は、左右の各前輪の、旋回円の径方向のスリップ力がつりあうように設定した旋回円の中心を旋回中心と見なして算出される請求項１または２に記載の旋回半径算出方法。   The turning radius corresponding to the outer tire turning angle and the inner tire turning angle is calculated by regarding the center of the turning circle set so that the radial slip force of the turning circle of the left and right front wheels is balanced as the turning center. Item 3. A turning radius calculation method according to item 1 or 2. 前記旋回半径の近似関数はべき乗関数である請求項１〜４のいずれか一項に記載の旋回半径算出方法。   The turning radius calculation method according to claim 1, wherein the approximate function of the turning radius is a power function. 前記旋回半径の近似関数は二輪モデルのタイヤ切れ角から前記旋回半径を算出する関数であり、前記二輪モデルのタイヤ切れ角は前記操舵角の２次以上の関数で表される請求項１〜４のいずれか一項に記載の旋回半径算出方法。   The approximate function of the turning radius is a function for calculating the turning radius from a tire turning angle of a two-wheel model, and the tire turning angle of the two-wheel model is expressed by a function of second order or higher of the steering angle. The turning radius calculation method according to any one of the above. 前記旋回半径は旋回外側の操舵輪の旋回半径である請求項５または６に記載の旋回半径算出方法。   The turning radius calculation method according to claim 5 or 6, wherein the turning radius is a turning radius of a steering wheel outside the turning. 車両の後退時に車両後方の映像をモニタに表示すると共に操舵角に応じた車両の後退軌跡をモニタに重畳表示する運転支援装置において、
請求項１〜７のいずれか一項に記載の旋回半径算出方法により操舵角から算出された旋回半径に基づいて車両の後退軌跡をモニタに表示することを特徴とする操舵支援装置。 In a driving support device that displays an image of the rear of the vehicle on the monitor when the vehicle is moving backward and displays the vehicle backward trajectory according to the steering angle on the monitor.
A steering assist device that displays a backward trajectory of a vehicle on a monitor based on the turning radius calculated from the steering angle by the turning radius calculation method according to claim 1. 目標駐車スペースへの車両の駐車操作を案内する駐車支援装置において、
請求項１〜７のいずれか一項に記載の旋回半径算出方法により操舵角から算出された旋回半径に基づいて車両の駐車操作を案内することを特徴とする駐車支援装置。 In the parking assistance device for guiding the parking operation of the vehicle in the target parking space,
A parking assistance device for guiding a parking operation of a vehicle based on a turning radius calculated from a steering angle by the turning radius calculation method according to any one of claims 1 to 7. 車両の操舵系モデルから作成された操舵角と外側タイヤ切れ角及び内側タイヤ切れ角とを変数とすると共に既知パラメータと未知パラメータとを含む関係式を有し、
車両の設計データに基づいた既知パラメータのデータを読み込むステップと、
操舵ゼロの状態に対応する前記変数の値を前記関係式に適用させた条件式とフル操舵の状態に対応する前記変数の値を前記関係式に適用させた条件式から未知パラメータの値を算出するステップと、
未知パラメータの値を適用した前記関係式を用いて操舵ゼロからフル操舵の間の複数の操舵角と操舵角に対応する外側タイヤ切れ角と内側タイヤ切れ角をそれぞれ算出するステップと、
算出された外側タイヤ切れ角と内側タイヤ切れ角により操舵角に対応する旋回半径を算出するステップと、
これら複数の操舵角と操舵角に対応する旋回半径とに基づいて操舵角に対する旋回半径の近似関数を求めるステップと
を実行させることを特徴とする旋回半径算出プログラム。 It has a relational expression including a known parameter and an unknown parameter, with the steering angle created from the steering system model of the vehicle and the outer tire inner angle and the inner tire angular angle as variables.
Loading data of known parameters based on vehicle design data;
The value of the unknown parameter is calculated from the conditional expression in which the value of the variable corresponding to the steering zero state is applied to the relational expression and the conditional expression in which the value of the variable corresponding to the full steering state is applied to the relational expression. And steps to
Calculating a plurality of steering angles between the steering zero and full steering and an outer tire turning angle and an inner tire turning angle respectively corresponding to the steering angle using the relational expression to which an unknown parameter value is applied;
Calculating a turning radius corresponding to the steering angle based on the calculated outer tire turning angle and inner tire turning angle;
And a step of obtaining an approximate function of the turning radius with respect to the steering angle based on the plurality of steering angles and the turning radius corresponding to the steering angle. ステアリング操舵に応じて車両の幅方向に移動するラックのストロークが操舵角に対応する変数として前記関係式に含まれる請求項１０に記載の旋回半径算出プログラム。   The turning radius calculation program according to claim 10, wherein a stroke of a rack that moves in the width direction of the vehicle in accordance with steering is included in the relational expression as a variable corresponding to a steering angle. 外側タイヤ切れ角と内側タイヤ切れ角に対応する旋回半径は、左右の前輪車軸と後輪車軸とのそれぞれの交点の中点を旋回中心と見なして算出される請求項１０または１１に記載の旋回半径算出プログラム。   The turning radius according to claim 10 or 11, wherein the turning radii corresponding to the outer tire turning angle and the inner tire turning angle are calculated by regarding the midpoint of the intersection of the left and right front wheel axles and the rear wheel axle as the turning center. Radius calculation program. 外側タイヤ切れ角と内側タイヤ切れ角に対応する旋回半径は、左右の各前輪の、旋回円の径方向のスリップ力がつりあうように設定した旋回円の中心を旋回中心と見なして算出される請求項１０または１１に記載の旋回半径算出プログラム。   The turning radius corresponding to the outer tire turning angle and the inner tire turning angle is calculated by regarding the center of the turning circle set so that the radial slip force of the turning circle of the left and right front wheels is balanced as the turning center. Item 12. The turning radius calculation program according to Item 10 or 11. 請求項１０〜１３のいずれか一項に記載の旋回半径算出プログラムが記録されたことを特徴とするコンピュータ読み取り可能な記録媒体。   A computer-readable recording medium in which the turning radius calculation program according to any one of claims 10 to 13 is recorded.
JP2004130056A 2004-04-26 2004-04-26 Turning radius calculation method, steering assistance device and parking assistance device using the turning radius calculation method, turning radius calculation program, and recording medium Expired - Fee Related JP4438499B2 (en)

Priority Applications (10)

Application Number Priority Date Filing Date Title
JP2004130056A JP4438499B2 (en) 2004-04-26 2004-04-26 Turning radius calculation method, steering assistance device and parking assistance device using the turning radius calculation method, turning radius calculation program, and recording medium
AT05727535T ATE413321T1 (en) 2004-04-26 2005-03-23 TURNING CIRCLE RADIUS CALCULATION METHOD, STEERING ASSISTANCE DEVICE AND PARKING ASSISTANCE DEVICE USING THE TURNING CIRCLE RADIUS CALCULATION METHOD, TURNING CIRCLE RADIUS CALCULATION PROGRAM AND RECORDING MEDIUM
CNB2005800004285A CN100528665C (en) 2004-04-26 2005-03-23 Turning radius calculation method
KR1020057024582A KR100754266B1 (en) 2004-04-26 2005-03-23 Turning radius calculation method, steering assistance apparatus and parking assistance apparatus employing the turning radius calculation method, turning radius calculation program, and recording medium
EP05727535A EP1740438B1 (en) 2004-04-26 2005-03-23 Turning radius calculation method, steering assistance apparatus and parking assistance apparatus employing the turning radius calculation method, turning radius calculation program, and recording medium
AU2005235027A AU2005235027B2 (en) 2004-04-26 2005-03-23 Turning radius calculation method, steering assistance apparatus and parking assistance apparatus employing the turning radius calculation method, turning radius calculation program, and recording medium
DE602005010845T DE602005010845D1 (en) 2004-04-26 2005-03-23 CIRCULAR CIRCUIT CIRCUIT PROCEDURE, CIRCULAR CIRCUIT CIRCUIT CALCULATING METHOD, CAR PARKING APPARATUS, PARK AID DEVICE, CIRCUIT CIRCUIT CALCULATION PROGRAM AND RECORDING MEDIUM
PCT/JP2005/006003 WO2005102822A1 (en) 2004-04-26 2005-03-23 Turning radius calculation method, steering assistance apparatus and parking assistance apparatus employing the turning radius calculation method, turning radius calculation program, and recording medium
US10/558,051 US7706943B2 (en) 2004-04-26 2005-03-23 Turning radius calculation, steering assistance and parking assistance employing turning radius function
TW094110675A TWI288718B (en) 2004-04-26 2005-04-04 Turning radius calculation method, steering assistance apparatus and parking assistance apparatus employing the turning radius calculation method, and computer-readable recording medium storing turning radius calculation program

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2004130056A JP4438499B2 (en) 2004-04-26 2004-04-26 Turning radius calculation method, steering assistance device and parking assistance device using the turning radius calculation method, turning radius calculation program, and recording medium

Publications (2)

Publication Number Publication Date
JP2005306335A true JP2005306335A (en) 2005-11-04
JP4438499B2 JP4438499B2 (en) 2010-03-24

Family

ID=34962590

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2004130056A Expired - Fee Related JP4438499B2 (en) 2004-04-26 2004-04-26 Turning radius calculation method, steering assistance device and parking assistance device using the turning radius calculation method, turning radius calculation program, and recording medium

Country Status (10)

Country Link
US (1) US7706943B2 (en)
EP (1) EP1740438B1 (en)
JP (1) JP4438499B2 (en)
KR (1) KR100754266B1 (en)
CN (1) CN100528665C (en)
AT (1) ATE413321T1 (en)
AU (1) AU2005235027B2 (en)
DE (1) DE602005010845D1 (en)
TW (1) TWI288718B (en)
WO (1) WO2005102822A1 (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009292228A (en) * 2008-06-03 2009-12-17 Aisin Seiki Co Ltd Parking assistant device
JP2010100086A (en) * 2008-10-21 2010-05-06 Nissan Motor Co Ltd Parking assist device and method for determining contact with obstacle
WO2013051753A1 (en) * 2011-10-07 2013-04-11 Lg Innotek Co., Ltd. An apparatus and method for assisting parking
JP2017517174A (en) * 2014-04-04 2017-06-22 ワイズ オートモーティブ コーポレーションＷｉｓｅ Ａｕｔｏｍｏｔｉｖｅ Ｃｏｒｐｏｒａｔｉｏｎ Vehicle periphery image generation apparatus and method
JP2019073192A (en) * 2017-10-17 2019-05-16 パナソニックＩｐマネジメント株式会社 Estimation device and parking support apparatus
JP2019077271A (en) * 2017-10-23 2019-05-23 アルパイン株式会社 Electronic device and parking assistance method

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4853712B2 (en) * 2006-12-28 2012-01-11 アイシン精機株式会社 Parking assistance device
US8392064B2 (en) 2008-05-27 2013-03-05 The Board Of Trustees Of The Leland Stanford Junior University Systems, methods and devices for adaptive steering control of automotive vehicles
US8818624B2 (en) * 2009-10-05 2014-08-26 Tesla Motors, Inc. Adaptive soft buttons for a vehicle user interface
KR101555343B1 (en) * 2010-01-18 2015-10-07 현대모비스 주식회사 Method for calculating radius of curvature on road
US20110224872A1 (en) * 2010-03-10 2011-09-15 Genie Industries, Inc. System And Method To Control Vehicle Steering
US8825295B2 (en) * 2010-08-16 2014-09-02 Honda Motor Co., Ltd. System and method for determining a steering angle for a vehicle and system and method for controlling a vehicle based on same
CN103661599B (en) * 2013-12-04 2016-01-06 奇瑞汽车股份有限公司 A kind of turn inside diameter trajectory predictions system and method
CN103818307B (en) * 2014-03-26 2016-03-02 北京汽车股份有限公司 A kind of parking assistance method, device, system and automobile
US9714031B2 (en) 2015-03-04 2017-07-25 Ford Global Technologies, Llc Park assist with tire radius consideration
CN105115734A (en) * 2015-05-05 2015-12-02 中国重汽集团福建海西汽车有限公司 Simple method for measuring turning radius of vehicle
KR101806619B1 (en) * 2015-09-21 2017-12-07 현대자동차주식회사 Parking guide apparatus and method in vehicle
CN105523084B (en) * 2015-12-07 2019-12-27 厦门雅迅网络股份有限公司 Method for detecting vehicle turning angle based on three-axis acceleration sensor
CN105584488A (en) * 2016-03-11 2016-05-18 广东钛马车联网信息科技有限公司 Virtual drive route display system and method
EP3583015A1 (en) * 2017-02-17 2019-12-25 ThyssenKrupp Presta AG Vehicle lateral motion control
CN107256305B (en) * 2017-06-08 2020-07-24 厦门理工学院 Method for determining turning radius of vehicle steering knuckle
CN107702929A (en) * 2017-08-14 2018-02-16 宝沃汽车（中国）有限公司 Detection method, device and the vehicle of vehicle minimum turning diameter
CN107655384B (en) * 2017-08-31 2020-08-28 安徽江淮汽车集团股份有限公司 Automobile minimum turning radius measuring method and steering center marking system
CN107655699B (en) * 2017-08-31 2019-05-21 安徽江淮汽车集团股份有限公司 Minimum turning radius measuring device and method
CN108820043B (en) * 2018-06-12 2021-06-01 上海工程技术大学 Automatic automobile steering reminding method and device based on bilateral wheel speeds
DE102018115415A1 (en) 2018-06-27 2020-01-02 Valeo Schalter Und Sensoren Gmbh Precision improvement in vehicle odometry
TWI685434B (en) * 2019-01-10 2020-02-21 財團法人亞洲大學 Projection and detection system for turning inner wheel of vehicle
CN110057297B (en) * 2019-04-15 2020-12-18 武汉科技大学 Automobile minimum turning diameter measuring system and method based on LD distance measurement
KR20220025972A (en) * 2020-08-24 2022-03-04 현대자동차주식회사 Driving stabilization method for wheel motor driven vehicle
CN112406885A (en) * 2020-12-03 2021-02-26 明见（厦门）技术有限公司 Vehicle turning radius calculation method, terminal device and storage medium
CN112903323B (en) * 2021-01-25 2022-06-17 中车青岛四方车辆研究所有限公司 Method, device and storage medium for obtaining turning radius of independent wheel tramcar
CN112793579B (en) * 2021-04-12 2021-06-25 顺为智能科技(常州)有限公司 Method for measuring steering angle of virtual wheel of wheeled vehicle
CN113405819A (en) * 2021-06-18 2021-09-17 安徽江淮汽车集团股份有限公司 Vehicle turning radius measuring method and system based on GPS
CN113959741A (en) * 2021-10-25 2022-01-21 徐州徐工挖掘机械有限公司 Vehicle turning radius testing method and device and storage medium
CN114155709B (en) * 2021-11-23 2022-09-23 北京安融畅信息技术有限公司 Identification method for sharp-bent road section and potential safety hazard investigation method
CN114674197B (en) * 2022-02-17 2023-03-24 成都飞机工业（集团）有限责任公司 Aircraft wire harness bending radius measuring method, device, equipment and medium
CN114572306B (en) * 2022-02-25 2023-06-02 智己汽车科技有限公司 Method and equipment for calculating vehicle understeer gradient during same-direction steering of rear wheels

Family Cites Families (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4162859A (en) * 1977-12-27 1979-07-31 Mcafee Loyd O Vehicle steering knuckle arm angle compensator
US4263979A (en) * 1978-11-09 1981-04-28 Rpc Corporation Hydraulic master-slave steering system for a wide track vehicle
US4353568A (en) * 1980-06-06 1982-10-12 Macaster Controls, Inc. Programmable steering control apparatus for motor vehicles
US4600205A (en) * 1984-10-05 1986-07-15 Steering Control Systems, Inc. Steering apparatus for motor vehicles
US4792007A (en) * 1986-02-03 1988-12-20 Honda Giken Kogyo Kabushiki Kaisha Mechanism for steering front and rear wheels of four-wheel vehicle
US4875697A (en) * 1988-12-02 1989-10-24 Navistar International Transportation Corp. Variable wheelbase length steering linkage
US5143400A (en) * 1989-08-10 1992-09-01 Michelin Recherche Et Technique Active toe adjustment apparatus
DE4134240C2 (en) * 1991-10-16 1995-12-14 Mannesmann Ag Steering support for a non-track-bound vehicle
US5484227A (en) * 1993-04-09 1996-01-16 Niigata Engineering Co., Ltd. Control device for asphalt finisher
JPH09135621A (en) * 1995-11-16 1997-05-27 Fuji Heavy Ind Ltd Auxiliary device for turning lawn-mowing vehicle
DE19618624C1 (en) * 1996-05-09 1997-09-25 Daimler Benz Ag Device for evaluation of signals from sensor
US6272409B1 (en) * 1998-09-24 2001-08-07 Dana Corporation Motor vehicle steering box with Ackerman control
US6951259B2 (en) * 1998-12-03 2005-10-04 Koji Irikura Multi-wheel vehicle
JP3183284B2 (en) * 1999-01-19 2001-07-09 株式会社豊田自動織機製作所 Steering support device for reversing a vehicle
US6283483B1 (en) * 1999-07-29 2001-09-04 Paccar Inc Electronicallly controlled ackerman steering
JP3632563B2 (en) 1999-10-19 2005-03-23 株式会社豊田自動織機 Image positional relationship correction device, steering assist device including the image positional relationship correction device, and image positional relationship correction method
JP3575364B2 (en) 1999-12-28 2004-10-13 株式会社豊田自動織機 Steering support device
JP3387911B2 (en) 2000-01-27 2003-03-17 松下電器産業株式会社 Calibration system and calibration method
JP3707379B2 (en) 2000-03-23 2005-10-19 日産自動車株式会社 Vehicle front and rear wheel steering angle control device
JP2002036991A (en) * 2000-07-27 2002-02-06 Honda Motor Co Ltd Parking support device
US6706162B1 (en) 2000-09-25 2004-03-16 Applera Corporation High speed, high resolution compositions, methods, and kits for capillary electrophoresis
JP4067754B2 (en) * 2000-10-20 2008-03-26 本田技研工業株式会社 Front-wheel steering device for motorbikes
JP2002251632A (en) 2001-02-22 2002-09-06 Matsushita Electric Ind Co Ltd Operation supporting device
US20040046350A1 (en) * 2001-05-21 2004-03-11 Wagner Engineering, Llc Method and apparatus for suspending a vehicular wheel assembly
JP3664108B2 (en) * 2001-06-25 2005-06-22 株式会社豊田自動織機 Parking assistance device
JP3923804B2 (en) 2002-01-11 2007-06-06 住友ゴム工業株式会社 Tire pressure drop detection method and apparatus, and tire decompression determination program
JP3692082B2 (en) * 2002-01-23 2005-09-07 トヨタ自動車株式会社 Parking assistance device
US6827176B2 (en) * 2003-01-07 2004-12-07 Jlg Industries, Inc. Vehicle with offset extendible axles and independent four-wheel steering control
JP4427953B2 (en) * 2003-01-29 2010-03-10 株式会社豊田自動織機 Parking assistance device

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009292228A (en) * 2008-06-03 2009-12-17 Aisin Seiki Co Ltd Parking assistant device
US8907815B2 (en) 2008-06-03 2014-12-09 Aisin Kabushiki Kaisha Parking support device
JP2010100086A (en) * 2008-10-21 2010-05-06 Nissan Motor Co Ltd Parking assist device and method for determining contact with obstacle
WO2013051753A1 (en) * 2011-10-07 2013-04-11 Lg Innotek Co., Ltd. An apparatus and method for assisting parking
KR101329510B1 (en) 2011-10-07 2013-11-13 엘지이노텍 주식회사 An apparatus and method for assisting parking
US9959769B2 (en) 2011-10-07 2018-05-01 Lg Innotek Co., Ltd. Apparatus and method for assisting parking
JP2017517174A (en) * 2014-04-04 2017-06-22 ワイズ オートモーティブ コーポレーションＷｉｓｅ Ａｕｔｏｍｏｔｉｖｅ Ｃｏｒｐｏｒａｔｉｏｎ Vehicle periphery image generation apparatus and method
JP2019073192A (en) * 2017-10-17 2019-05-16 パナソニックＩｐマネジメント株式会社 Estimation device and parking support apparatus
JP2019077271A (en) * 2017-10-23 2019-05-23 アルパイン株式会社 Electronic device and parking assistance method

Also Published As

Publication number Publication date
KR100754266B1 (en) 2007-09-03
KR20060036929A (en) 2006-05-02
TW200602219A (en) 2006-01-16
JP4438499B2 (en) 2010-03-24
WO2005102822A1 (en) 2005-11-03
AU2005235027B2 (en) 2008-04-17
EP1740438B1 (en) 2008-11-05
ATE413321T1 (en) 2008-11-15
US20060247834A1 (en) 2006-11-02
DE602005010845D1 (en) 2008-12-18
AU2005235027A1 (en) 2005-11-03
EP1740438A1 (en) 2007-01-10
US7706943B2 (en) 2010-04-27
CN100528665C (en) 2009-08-19
CN1787944A (en) 2006-06-14
TWI288718B (en) 2007-10-21

Similar Documents

Publication Publication Date Title
JP4438499B2 (en) Turning radius calculation method, steering assistance device and parking assistance device using the turning radius calculation method, turning radius calculation program, and recording medium
US10046803B2 (en) Vehicle control system
US9902425B2 (en) System for guiding trailer along target route during reversing maneuver
JP5169804B2 (en) Control device
US20140236412A1 (en) Apparatus and method for automatically parking vehicle
JP2010151619A5 (en)
CN112212887B (en) Automatic parking positioning parameter calibration method based on Ackerman steering model
JPH01202581A (en) Rear wheel steering angle control method in front-rear-wheel-steering vehicle
US11912360B2 (en) Vehicle control method, vehicle control system, and vehicle
JP2020011684A (en) Vehicle control device, vehicle control method and vehicle control system
JP2005343260A (en) Steering assistance device for vehicle
JP2000180305A (en) Travelling simulator device of vehicle
JP2010164349A (en) Control unit
KR101389417B1 (en) Method for real-time parking assistance for a motor vehicle, and corresponding device
JP2010058672A (en) Vehicular steering device
JP5865325B2 (en) Moving body position calculating apparatus and method
JP3547806B2 (en) Vehicle steering characteristic control method
WO2017110078A1 (en) Parking assistance device and parking assistance method
JP6358119B2 (en) Wheelbase calculation device and driving support device using the same
US20240034398A1 (en) Driving Assistance Device
CN114212078A (en) Method and system for detecting self-vehicle positioning precision in automatic parking
BR102015021597B1 (en) METHOD AND DEVICE FOR ASSISTANCE IN PRECISION MANEUVERS FOR MOTOR VEHICLES
WO2018018108A1 (en) Methods and devices for assisting precision manoeuvres of motor vehicles
JPS5881862A (en) Vehicle with memory and reproducing device of running route
JP2014177199A (en) Electric power steering device, navigation device, electric power steering system, and program

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20070405

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20090623

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20091215

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20091228

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130115

Year of fee payment: 3

FPAY Renewal fee payment (event date is renewal date of database)

Free format text: PAYMENT UNTIL: 20130115

Year of fee payment: 3

LAPS Cancellation because of no payment of annual fees